Pneumatic soft dexterous hand for patient with missing finger functions and soft robot

Abstract

A pneumatic soft dexterous hand for a patient with missing finger functions and a soft robot relate to the technical field of soft robots. The pneumatic soft dexterous hand includes a soft finger, the soft finger includes a rubber casing, a silicone tube, an endoskeleton, and a built-in air bag, and the silicone tube is sleeved in the rubber shell. The silicone tube is formed with a chamber, and the endoskeleton and the built-in airbag are arranged in the silicone tube. The endoskeleton includes a plurality of skeleton modules hinged together, the plurality of the skeleton modules are divided into two groups, and the skeleton modules of the two groups are hinged in an alternating manner in sequence from left to right. The built-in airbag is embedded on the endoskeleton to support the endoskeleton.

What is claimed is: 
     
         1 . A pneumatic soft dexterous hand for a patient with missing finger functions, wherein
 the pneumatic soft dexterous hand comprises soft fingers, each of the soft fingers comprises a rubber casing, a silicone tube, an endoskeleton, and a built-in air bag, the silicone tube is sleeved in the rubber shell, the silicone tube is formed with a chamber, and the endoskeleton and the built-in airbag are arranged in the silicone tube,   the endoskeleton comprises a plurality of skeleton modules hinged together, the plurality of the skeleton modules are divided into two groups, the skeleton modules of the two groups are hinged in an alternating manner in sequence from left to right, and the built-in airbag is embedded on the endoskeleton to support the endoskeleton.   
     
     
         2 . The pneumatic soft dexterous hand for a patient with missing finger functions according to  claim 1 , wherein the skeleton module comprises a connecting plate, a limiting shaft, and a rotating shaft, the limiting shaft and one end of the rotating shaft are fixedly connected to the connecting plate, the connecting plate is further provided with a rotation hole, and the other end of the rotating shaft is hinged with a rotation hole of an opposite skeleton module of the skeleton modules, so that the plurality of the skeleton modules are hinged together to form the endoskeleton. 
     
     
         3 . The pneumatic soft dexterous hand for a patient with missing finger functions according to  claim 2 , wherein optical fiber holes are also provided in a region of the connecting plate adjacent to the rotation hole, the optical fiber hole is configured to allow an optical fiber to pass through, a plurality of Bragg gratings are integrated on the optical fiber, degree of freedom of each joint of the pneumatic soft dexterous hand is detected through the optical fiber, the optical fiber extends into the silicon tube from an air port at one end of the silicone tube, passes through the optical fiber holes in sequence, is drawn out from another air port at the end of the silicone tube, and then extends into an adjacent soft finger of the soft fingers, and the optical fiber is arranged along the skeleton modules in the chamber of the silicone tube. 
     
     
         4 . The pneumatic soft dexterous hand for a patient with missing finger functions according to  claim 1 , wherein the pneumatic software dexterous hand further comprises finger bases, receiving chambers, and spring air bags, the finger bases are connected to the soft fingers and the receiving chambers, one side of the receiving chamber is movably connected to the finger base, and the other end of the receiving chamber is configured to be connected to a residual limb of a human body, and two opposite ends of each of the spring air bags are connected to two adjacent finger bases of the finger bases. 
     
     
         5 . The pneumatic soft dexterous hand for a patient with missing finger functions according to  claim 4 , wherein the one side of the receiving chamber is configured to be attached to the residual limb of the human body, the other side of the receiving chamber is provided with an arc-shaped dovetail groove, and the arc-shaped dovetail groove is matched with the finger base to form a movable connection, so as to ensure that the soft finger is able to deflect and move along the arc-shaped dovetail groove. 
     
     
         6 . The pneumatic soft dexterous hand for a patient with missing finger functions according to  claim 4 , wherein hardness of the rubber casing is greater than hardness of the silicone tube, an opening of one end of the rubber casing is configured to allow the silicone tube to pass through, the other end of the rubber casing is pointed and closed, and hollow gaps are formed in regions of the rubber casing corresponding to a metacarpophalangeal joint, a proximal joint, and a distal joint. 
     
     
         7 . The pneumatic soft dexterous hand for a patient with missing finger functions according to  claim 6 , wherein gaps bottom lines of the hollow gaps corresponding to the metacarpophalangeal joint, the proximal joint, and the distal joint and adjacent to a palm side are set differently, and lengths of the gap bottom lines determine a proportional coefficient corresponding to joint bending. 
     
     
         8 . The pneumatic soft dexterous hand for a patient with missing finger functions according to  claim 6 , wherein the rubber casing is provided with gap protrusions on side walls of the gaps corresponding to the distal joint and the proximal joint in an axial direction of the rubber casing. 
     
     
         9 . The pneumatic soft dexterous hand for a patient with missing finger functions according to  claim 4 , wherein the spring air bag comprises a first connecting block, a second connecting block, a variable-diameter spring, and a non-stretchable plastic film, two ends of the variable-diameter spring are connected to the first connecting block and the second connecting block, the plastic film is formed in a cylindrical shape, two ends of the plastic film are connected to the first connecting block and the second connecting block, the variable-diameter spring is located in the plastic film, and a cross-sectional diameter of the variable-diameter spring gradually decreases from the middle to both ends along an axis of the variable-diameter spring itself. 
     
     
         10 . A soft robot, wherein a soft hand of the soft robot is the pneumatic soft dexterous hand for a patient with missing finger functions according to  claim 1 . 
     
     
         11 . The soft robot according to  claim 10 , wherein the skeleton module comprises a connecting plate, a limiting shaft, and a rotating shaft, the limiting shaft and one end of the rotating shaft are fixedly connected to the connecting plate, the connecting plate is further provided with a rotation hole, and the other end of the rotating shaft is hinged with a rotation hole of an opposite skeleton module of the skeleton modules, so that the plurality of the skeleton modules are hinged together to form the endoskeleton. 
     
     
         12 . The soft robot according to  claim 11 , wherein optical fiber holes are also provided in a region of the connecting plate adjacent to the rotation hole, the optical fiber hole is configured to allow an optical fiber to pass through, a plurality of Bragg gratings are integrated on the optical fiber, degree of freedom of each joint of the pneumatic soft dexterous hand is detected through the optical fiber, the optical fiber extends into the silicon tube from an air port at one end of the silicone tube, passes through the optical fiber holes in sequence, is drawn out from another air port at the end of the silicone tube, and then extends into an adjacent soft finger of the soft fingers, and the optical fiber is arranged along the skeleton modules in the chamber of the silicone tube. 
     
     
         13 . The soft robot according to  claim 10 , wherein the pneumatic software dexterous hand further comprises finger bases, receiving chambers, and spring air bags, the finger bases are connected to the soft fingers and the receiving chambers, one side of the receiving chamber is movably connected to the finger base, and the other end of the receiving chamber is configured to be connected to a residual limb of a human body, and two opposite ends of each of the spring air bags are connected to two adjacent finger bases of the finger bases. 
     
     
         14 . The soft robot according to  claim 13 , wherein the one side of the receiving chamber is configured to be attached to the residual limb of the human body, the other side of the receiving chamber is provided with an arc-shaped dovetail groove, and the arc-shaped dovetail groove is matched with the finger base to form a movable connection, so as to ensure that the soft finger is able to deflect and move along the arc-shaped dovetail groove. 
     
     
         15 . The soft robot according to  claim 13 , wherein hardness of the rubber casing is greater than hardness of the silicone tube, an opening of one end of the rubber casing is configured to allow the silicone tube to pass through, the other end of the rubber casing is pointed and closed, and hollow gaps are formed in regions of the rubber casing corresponding to a metacarpophalangeal joint, a proximal joint, and a distal joint. 
     
     
         16 . The soft robot according to  claim 15 , wherein gaps bottom lines of the hollow gaps corresponding to the metacarpophalangeal joint, the proximal joint, and the distal joint and adjacent to a palm side are set differently, and lengths of the gap bottom lines determine a proportional coefficient corresponding to joint bending. 
     
     
         17 . The soft robot according to  claim 15 , wherein the rubber casing is provided with gap protrusions on side walls of the gaps corresponding to the distal joint and the proximal joint in an axial direction of the rubber casing. 
     
     
         18 . The soft robot according to  claim 13 , wherein the spring air bag comprises a first connecting block, a second connecting block, a variable-diameter spring, and a non-stretchable plastic film, two ends of the variable-diameter spring are connected to the first connecting block and the second connecting block, the plastic film is formed in a cylindrical shape, two ends of the plastic film are connected to the first connecting block and the second connecting block, the variable-diameter spring is located in the plastic film, and a cross-sectional diameter of the variable-diameter spring gradually decreases from the middle to both ends along an axis of the variable-diameter spring itself. 
     
     
         19 . The pneumatic soft dexterous hand for a patient with missing finger functions according to  claim 2 , wherein the pneumatic software dexterous hand further comprises finger bases, receiving chambers, and spring air bags, the finger bases are connected to the soft fingers and the receiving chambers, one side of the receiving chamber is movably connected to the finger base, and the other end of the receiving chamber is configured to be connected to a residual limb of a human body, and two opposite ends of each of the spring air bags are connected to two adjacent finger bases of the finger bases. 
     
     
         20 . The pneumatic soft dexterous hand for a patient with missing finger functions according to  claim 3 , wherein the pneumatic software dexterous hand further comprises finger bases, receiving chambers, and spring air bags, the finger bases are connected to the soft fingers and the receiving chambers, one side of the receiving chamber is movably connected to the finger base, and the other end of the receiving chamber is configured to be connected to a residual limb of a human body, and two opposite ends of each of the spring air bags are connected to two adjacent finger bases of the finger bases.